Haptic feedback device for surgical instruments and robotic surgical systems

Abstract

A feedback patch for use with a surgical instrument or a robotic surgical system includes a substrate and a stimulator disposed on the substrate. The stimulator is configured to receive a feedback signal from a sensor of the surgical instrument or the robotic surgical system and is configured to stimulate a hand of a clinician interfacing with the surgical instrument or the robotic surgical system.

What is claimed is: 
     
         1 . A feedback patch for use with a surgical instrument or a robotic surgical system, the feedback patch comprising:
 a substrate; and   a stimulator disposed on the substrate, the stimulator configured to receive a feedback signal from a sensor of the surgical instrument or the robotic surgical system and configured to stimulate a portion of an arm of a clinician interfacing with the surgical instrument or the robotic surgical system.   
     
     
         2 . The feedback patch according to  claim 1 , wherein the substrate is a flexible substrate configured to be releasably secured to the skin of a clinician. 
     
     
         3 . The feedback patch according to  claim 1 , wherein the substrate is configured to be secured to a handle of the surgical instrument or the robotic surgical system. 
     
     
         4 . The feedback patch according to  claim 1 , wherein the stimulator is configured to mechanically vibrate skin of the portion of the arm of the clinician. 
     
     
         5 . The feedback patch according to  claim 1 , wherein the stimulator is configured to electrically stimulate the portion of the arm of the clinician. 
     
     
         6 . The feedback patch according to  claim 5 , wherein the stimulator includes an array of electrodes. 
     
     
         7 . The feedback patch according to  claim 1 , wherein the stimulator is configured to vary a property of the stimulation of the portion of the arm in response to the received feedback signal. 
     
     
         8 . The feedback patch according to  claim 7 , wherein the property is at least one of a frequency of the stimulation, a strength of the stimulation, an amplitude of the stimulation, or a pattern of the stimulation. 
     
     
         9 . A surgical system comprising:
 an end effector including a sensor configured to determine forces exerted on tissue by the end effector and configured to transmit feedback signals indicative of the forces exerted on tissue; and   a feedback patch including a substrate and a stimulator disposed on the substrate, the stimulator configured to receive the feedback signals from the sensor and configured to stimulate a portion of an arm of a clinician controlling the end effector.   
     
     
         10 . The surgical system according to  claim 9 , further comprising a handheld surgical instrument having a handle assembly, the end effector operably coupled to the handle assembly of the surgical instrument. 
     
     
         11 . The surgical system according to  claim 10 , wherein the feedback patch is secured to the handle assembly of the surgical instrument. 
     
     
         12 . The surgical system according to  claim 9 , further comprising a robotic surgical system including a surgical robot, the end effector secured to an arm of the surgical robot. 
     
     
         13 . The surgical system according to  claim 12 , wherein the robotic surgical system includes a user console configured to manipulate the surgical robot, the feedback patch is secured to an input handle of the user console. 
     
     
         14 . The surgical system according to  claim 9 , wherein the substrate is a flexible substrate configured to be releasably secured to the skin of a clinician. 
     
     
         15 . The surgical system according to  claim 9 , wherein the stimulator is configured to mechanically vibrate skin of the portion of the arm of the clinician. 
     
     
         16 . The surgical system according to  claim 9 , wherein the stimulator is configured to electrically stimulate the portion of the arm of the clinician. 
     
     
         17 . A method for providing feedback with a surgical system, the method comprising:
 transmitting a feedback signal from a sensor associated with an end effector of a surgical instrument or a robotic surgical system indicative of forces the end effector applies to tissue; and   receiving the feedback signals from the sensor at a feedback patch in contact with skin of a clinician manipulating the end effector; and   stimulating the skin of the clinician in response to the received feedback signals.   
     
     
         18 . The method according to  claim 17 , wherein stimulating the skin of the clinician includes at least one of mechanically vibrating the skin of the clinician or electrically stimulating the skin of the clinician. 
     
     
         19 . The method according to  claim 17 , further comprising manipulating the end effector to act on tissue with the robotic surgical system. 
     
     
         20 . The method according to  claim 17 , further comprising manipulating the end effector to act on tissue with a handheld surgical instrument.